#ifndef EMCMOTIONCLASS_H
#define EMCMOTIONCLASS_H
#include "motion.h"

class EmcMotionClass
{
public:
    EmcMotionClass();

    static int rtapi_app_main_intial(emcmot_config_t configIn,int robotIdIn);
    static void rtapi_app_exit_end(void);

    static void emcmotSetCycleTime(unsigned long nsec , int robotIdIn);
    static int setTrajCycleTime(double secs,int robotIdIn);
    static int setServoCycleTime(double secs, int robotIdIn);
    static int initialEmcConfig(emcmot_config_t configIn, int robotIdIn);

    static int setJointConfig(int robotIdIn);
    static int setJointVel(int jointNum,double maxVel,double maxAcc,int robotIdIn);
    static int setBoundVel(int jointNum,double maxVel,double maxAcc,int robotIdIn);
//    static int setJointAcc(double maxAcc);
private:

};

#endif // EMCMOTIONCLASS_H
